And Moving Vertically Patents (Class 414/744.3)
  • Patent number: 10966893
    Abstract: An exoskeleton apparatus includes a base unit, a support unit, and upper and lower arm units. The support unit is rotatable about a vertical first axis relative to the base unit. The upper arm unit includes a linking axle, a main arm that has a connecting end rotatable about a horizontal second axis, and a linkage mechanism for rotating the linking axle relative to the main arm about a horizontal third axis. The lower arm unit is rotatable relative to the upper arm unit, and includes a lower arm set co-rotatably coupled to the linking axle, a hand-receiving seat rotatably connected to the lower arm set, and a lower arm receiving seat connected to the hand-receiving seat, and a drive member for rotating the hand-receiving seat about a horizontal fourth axis.
    Type: Grant
    Filed: March 23, 2018
    Date of Patent: April 6, 2021
    Assignee: HIWIN TECHNOLOGIES CORP.
    Inventors: Shih-En Liu, Fu-Han Hsieh
  • Patent number: 10877508
    Abstract: A robot that enables a stopper to be installed even when it is difficult to allow a space for providing the stopper. The robot includes a first component; a second component movably coupled to the first component; a first stopper provided on one of the first component and the second component, the first stopper extending along an axis parallel to a movement direction of the second component relative to the first component; and a second stopper provided on the other of the first component and the second component, the second stopper configured to come into contact with the first stopper when the second component moves relative to the first component and limit a movement range of the second component relative to the first component.
    Type: Grant
    Filed: November 5, 2018
    Date of Patent: December 29, 2020
    Assignee: FANUC CORPORATION
    Inventor: Genki Miyazaki
  • Patent number: 10792816
    Abstract: A portable work module includes a combination of prismatic and revolute joints for positioning and orienting a robotic end effector for performing a task within confined space. For example, the portable work module may include telescoping arm integrated with wrist having a plurality of degrees of freedom with respect to telescoping arm. The portable work module includes an insert that is secured with respect to an access port of confined space, said access port serving as a reference location for calculating the position of the robotic end effector within confined space. The portable work module is configured to have a compacted configuration for insertion into confined space, and an extended configuration for performing tasks within confined space. In some examples, the portable work module is modular, such that the robotic end effector or other components may be selectively removed and replaced.
    Type: Grant
    Filed: December 5, 2017
    Date of Patent: October 6, 2020
    Assignee: The Boeing Company
    Inventors: John Walter Pringle, IV, Chris J. Erickson
  • Patent number: 10781058
    Abstract: The innovation disclosed herein is an improved palletiser for loading and packaging unstable articles, such as plastic, glass, steel, aluminium, etc. containers onto a pallet for bulk storage and/or transport. The innovation includes a pallet station having a pallet housing that receives pallets, a layer pad store substantially aligned with the pallet housing, a container lifting sub-assembly that receives a predetermined row of containers, a pusher assembly that urges the predetermined row of containers onto a pallet, and a layer pad transfer assembly.
    Type: Grant
    Filed: September 24, 2017
    Date of Patent: September 22, 2020
    Inventor: Gary Tempany
  • Patent number: 10759046
    Abstract: The invention relates to a liquid handling apparatus for transferring liquid into and out of containers that are arranged in a substantially horizontal plane that is spanned by an X axis and a Y axis standing perpendicular to the X axis in the direction of a substantially vertical Z axis standing perpendicular to this plane. The liquid handling apparatus comprises an X slide which is travelable in the direction of the X axis and at which an arm having a Y slide is provided that is travelable in the direction of the Y axis and that is optionally configured for attaching at least one Z slide travelable in the Z axis. An X drive motor serves for driving the X slide via an X force transmission means and a Y drive motor serves for driving the Y slide via a Y force transmission means. Both motors are in fixed positions.
    Type: Grant
    Filed: November 11, 2016
    Date of Patent: September 1, 2020
    Assignee: LABOMATIC INSTRUMENTS AG
    Inventor: Claude Louis Marchand
  • Patent number: 10737817
    Abstract: A robotic handling apparatus includes a vertical motion mechanism and a first arm member connected to the vertical motion mechanism. The first arm member is movable in a vertical direction by the vertical motion mechanism. The robotic handling apparatus includes a second arm member connected to the vertical motion mechanism via the first arm member, and a first drive unit configured to drive the second arm member to pivot about a first axis. An end effector is connected to the second arm to transfer an article from a first position to a second position by the motion of the vertical motion mechanism, first arm member, and second arm member, the first arm member being mounted to a side of the vertical motion mechanism relative to the vertical direction.
    Type: Grant
    Filed: September 13, 2017
    Date of Patent: August 11, 2020
    Assignee: YASKAWA AMERICA, INC.
    Inventors: John Charles Rogers, Hiroyuki Handa, John D. Payne, Carl Michael Traynor
  • Patent number: 10717187
    Abstract: A device comprising a tower covered by a shell, the tower having a base with a first axis of movement around a first joint, a first arm connected to the tower via a second joint along a second axis of movement, a second arm connected to the first arm at a proximal end of the second arm via a third joint defining a third axis of movement, the second arm having an end effector interface configured to hold a variety of end effectors usable for different applications, the end effectors being exchangeable allowing the device to perform digital fabrication and desktop manufacturing, an autolevelling function configured to sense a height of a work surface, and a training function allowing a user to teach either arm to perform or repeat specific actions and/or collaborate with the other arm to achieve a common assembly or fabrication task.
    Type: Grant
    Filed: February 1, 2017
    Date of Patent: July 21, 2020
    Assignee: AM Networks LLC
    Inventors: Zaib Iqtidar, Shahzada Azam, Michael Morton, Ali Ghani Syed
  • Patent number: 10529684
    Abstract: There is provided a capillary transport device capable of inserting, without manpower, a capillary into a mounting section of an ultrasonic horn. According to an aspect of the present invention, a capillary transport device includes: a first tube 17 for transporting a capillary 13; an ultrasonic horn 11 with a mounting section for mounting the capillary; a first movement mechanism for relatively moving the ultrasonic horn and a first end 17a of the first tube; and a mechanism for blowing gas into a second end 17b of the first tube.
    Type: Grant
    Filed: October 6, 2016
    Date of Patent: January 7, 2020
    Assignee: KAIJO CORPORATION
    Inventor: Go Takemoto
  • Patent number: 10485151
    Abstract: A loose component supply device includes a loose component support section that supports multiple components in a loose state, an imaging device that images the components supported on the loose component support section, a component holding head provided with at least one component holding tool capable of picking up and holding each of the components supported on the loose component support section, a holding head moving device that moves the component holding head at least to and from the loose component support section and a component transfer section at which transfer to a next process is possible, and a holding tool changing device that changes at least one of the one component holding tools based on image data obtained by the imaging of the imaging device.
    Type: Grant
    Filed: June 3, 2014
    Date of Patent: November 19, 2019
    Assignee: FUJI CORPORATION
    Inventor: Kazuma Ishikawa
  • Patent number: 10357877
    Abstract: An industrial robot may include a plurality of hands structured to mount the transfer objects; an arm comprising a front end side and a base end side, the hands being rotatably joined with the front end side of the arm; and a main body portion to which the base end side of the arm is rotatably joined. The main body portion may include an elevating unit to which the base end side of the arm is rotatably joined on a top surface side thereof, a housing which holds the elevating unit to be raised/lowered and in which at least part of a bottom end of the elevating unit is housed, and an elevating mechanism structured to raise and lower the elevating unit. The elevating mechanism may be accommodated in the housing so as to align with the elevating unit when viewed from a top-bottom direction.
    Type: Grant
    Filed: July 25, 2016
    Date of Patent: July 23, 2019
    Assignee: NIDEC SANKYO CORPORATION
    Inventors: Takahiro Shiraki, Yasuyuki Kitahara, Tamotsu Kuribayashi, Takao Nakae, Shigeyuki Kaino
  • Patent number: 10351393
    Abstract: A robot performs an appropriate operation in accordance with a position control, whereby an operation is carried out to pass a hook as a second engagement member through a hooking hole as a first engagement member. Thereafter, the robot is switched to a servo float control, and receives a command to raise the hook relatively with respect to the hooking hole. An amount of rising of the hook is compared with a maximum allowable amount of rising (threshold value) of the hook.
    Type: Grant
    Filed: July 10, 2017
    Date of Patent: July 16, 2019
    Assignee: HONDA MOTOR CO., LTD.
    Inventor: Takeshi Iura
  • Patent number: 10317889
    Abstract: The present disclosure relates to a work-in-process management control method and a work-in-process management control system using the work-in-process management control method.
    Type: Grant
    Filed: August 21, 2017
    Date of Patent: June 11, 2019
    Assignees: BOE TECHNOLOGY GROUP CO., LTD., CHONGQING BOE OPTOELECTRONICS TECHNOLOGY CO., LTD.
    Inventors: Junfeng An, Xuanbiao Li, Sung Hwan Yoon
  • Patent number: 10265845
    Abstract: The present invention is to provide an industrial robot, which is placed in vacuum for use, capable of efficiently cooling down hand- or arm-driving motors which are arranged inside the arm in air. The industrial robot is provided with a motor for rotating a second arm unit with respect to a first arm unit, a motor for rotating a hand with respect to the second arm unit, a reduction gear for reducing the rotation of the motor and transmitting it to the second arm unit, and a reduction gear for reducing the rotation of the motor and transmitting it to the hand; the hand and the arm are placed in vacuum. The reduction gears and are coaxially arranged so that the center of rotation of the second arm unit with respect to the first arm unit coincides with the axial centers of the reduction gears. The interior space of the hollow first arm unit is kept at atmospheric pressure in which the motors and the reduction gears are arranged.
    Type: Grant
    Filed: June 17, 2016
    Date of Patent: April 23, 2019
    Assignee: NIDEC SANKYO CORPORATION
    Inventors: Takayuki Yazawa, Yoshihisa Masuzawa, Tomoki Tanabe, Hirokazu Watanabe
  • Patent number: 10252426
    Abstract: A handling module for handling vehicle wheels in an installation for the surface treatment thereof and having at least two gripping units which are supported by a frame structure and each of which comprises a plurality of press-on elements which are pressable onto one or more counter surfaces of an individual vehicle wheel. At least one of the gripping units includes a translation device by which the press-on elements are movable in relation to the frame structure with a movement component which is parallel to the axis of rotation of a gripped vehicle wheel.
    Type: Grant
    Filed: January 12, 2012
    Date of Patent: April 9, 2019
    Assignee: EISENMANN SE
    Inventor: Reiner Starz
  • Patent number: 10183816
    Abstract: An apparatus for picking and placing a plate-like product comprises: a base; at least two guide rods disposed on said base vertically; a picking and placing device mounted on each of said guide rods vertically slidably, the picking and placing device is telescopic in a horizontal direction to smoothly and steadily pick and place the plate-like product; a driving device disposed on said base, said driving device connects with said picking and placing device for driving said pick and place device to slide along the respective guide rods.
    Type: Grant
    Filed: August 18, 2015
    Date of Patent: January 22, 2019
    Assignees: BOE TECHNOLOGY GROUP CO., LTD., CHENGDU BOE OPTOELECTRONICS TECHNOLOGY CO., LTD.
    Inventors: Liang Zhou, Hua Li
  • Patent number: 9993924
    Abstract: Example systems and methods may allow for closed-loop control of robotic operation. One example method includes receiving input data that identifies data sources to monitor and indicates adjustments to make in response to deviations by at least one of the data sources from at least one predicted state during subsequent execution of sequences of operations by robotic devices, receiving data streams from the data sources during execution of the sequences of operations by the robotic devices, identifying a deviation by one of the data sources from a predicted state for which the received input data indicates adjustments to the sequences of operations for the robotic devices, providing instructions to the robotic devices to execute the adjusted sequences of operations, and providing instructions to a second computing device to update a visual simulation of the robotic devices based on the adjusted sequences of operations.
    Type: Grant
    Filed: January 26, 2016
    Date of Patent: June 12, 2018
    Assignee: X Development LLC
    Inventors: Jeffrey Linnell, Kendra Byrne, Matthew Bitterman
  • Patent number: 9956692
    Abstract: A kinematic holding system for a placement head of a placement apparatus comprises a placement head alignment device which comprises at least one length-variable holding member arranged at a distance from a joint between a placement head support and the placement head. This holding member determines the pivoting position of the placement head relative to the placement head support. The length of the holding member is changeable during the placement operation depending on a deformation of the placement head guide device caused by the pressing force of the placement head against the substrate in such a way that an axis error (tilt) of the placement head caused by the deformation of the placement head guide device is compensated.
    Type: Grant
    Filed: February 23, 2016
    Date of Patent: May 1, 2018
    Assignee: Besi Switzerland AG
    Inventors: Hannes Kostner, Dietmar Lackner, Florian Speer, Martin Widauer
  • Patent number: 9764463
    Abstract: A robot includes: a base; an arm which is provided to be rotatable with respect to the base using a predetermined rotation shaft as the center of rotation; and an elongated object including a portion present in the base and in the arm, in which the elongated object is bound in a first binding position which is on the rotation shaft and in the base and a second binding position which is on the rotation shaft and in the arm.
    Type: Grant
    Filed: September 29, 2015
    Date of Patent: September 19, 2017
    Assignee: Seiko Epson Corporation
    Inventors: Seiji Hahakura, Kazushige Akaha, Sho Nakano, Takuya Owa, Kotaro Sekine, Daisuke Komatsu
  • Patent number: 9725252
    Abstract: In a device for transferring vehicle wheels, an individual vehicle wheel can be gripped by a gripping module having at least one gripping unit which is supported by a frame structure and includes multiple pressing elements that can be pressed against one or more mating surfaces of an individual vehicle wheel. A first gripping module and a second gripping module are mounted on a common rigid support structure which can be rotated about a main axis of rotation by a rotating mechanism. Furthermore, the pressing elements move with a movement component running parallel to the main axis of rotation.
    Type: Grant
    Filed: May 4, 2012
    Date of Patent: August 8, 2017
    Assignee: EISENMANN AG
    Inventors: Reiner Starz, Ulrich Hofbauer
  • Patent number: 9691650
    Abstract: A method and apparatus for a transfer robot that having at least one image sensor disposed thereon is provided. The transfer robot includes a lift assembly having a first drive assembly for moving a first platform relative to a second platform in a first linear direction, an end effector assembly disposed on the second platform and movable in a second linear direction by a second drive assembly, the second linear direction being orthogonal to the first linear direction, at least one image sensor, and a lighting device associated with the at least one image sensor.
    Type: Grant
    Filed: September 24, 2010
    Date of Patent: June 27, 2017
    Assignee: APPLIED MATERIALS, INC.
    Inventors: Shinichi Kurita, Takayuki Matsumoto, Suhail Anwar, Makoto Inagawa
  • Patent number: 9539727
    Abstract: An industrial robot includes a robot main body and an elevating mechanism to raise and lower the robot main body. The robot main body may include a hand, an arm to which the hand is joined, a main body portion to which the arm is joined, and an arm-elevating mechanism. The center of rotation on the base end side of the arm may be located farther toward the third direction side than the center of the main body unit when viewed in the up-down direction. In the standby state, part of the arm may be positioned farther toward the fourth direction side than the main body unit. The main body unit may be secured to the elevating mechanism. The elevating mechanism may be arranged on one or both sides of the main body unit in the first direction and/or on the fourth direction side.
    Type: Grant
    Filed: August 6, 2014
    Date of Patent: January 10, 2017
    Assignee: NIDEC SANKYO CORPORATION
    Inventors: Yasuyuki Kitahara, Toshimichi Kazama, Tamotsu Kuribayashi, Masayoshi Saichi
  • Patent number: 9511956
    Abstract: An apparatus for palletizing a plurality of objects, for example bottle packs or containers, is provided. A conveying and sorting system to form an ordered set of objects is provided. A handling system having a support column and movably arranged thereon a first handling member suitable to handle the ordered set of objects from a discharge position of the conveying and sorting system to a pallet arranged at a workstation is provided. A handling system having a support column and movably arranged thereon a second handling-suitable to handle a pallet from a pallet stack to the workstation and/or a cardboard flap from a respective stack to said workstation is provided.
    Type: Grant
    Filed: August 27, 2014
    Date of Patent: December 6, 2016
    Assignee: SMI S.p.A
    Inventor: Emanuele Bianchi
  • Patent number: 9358682
    Abstract: A medical robotic system (10) for performing medical procedures comprises a robot manipulator (14) for robotically assisted handling of a medical instrument, in particular a laparoscopic surgery instrument (18). The robot manipulator (14) comprises a base (24); a manipulator arm (26) with an essentially vertical part (27) supported by the base and with an essentially horizontal part (29) supported by the vertical part (27); a manipulator wrist (28) supported by the manipulator arm (26); and an effector unit (30) supported by the manipulator wrist and configured for holding a medical instrument. The manipulator arm (26) has a cylindrical PRP kinematic configuration for positioning the manipulator wrist.
    Type: Grant
    Filed: February 2, 2007
    Date of Patent: June 7, 2016
    Assignee: THE EUROPEAN ATOMIC ENERGY COMMUNITY (EURATOM), REPRESENTED BY THE EUROPEAN COMMISSION
    Inventor: Emilio Ruiz Morales
  • Patent number: 9339933
    Abstract: A robot includes a base, a first arm rotatably connected to the base around a first rotating axis, a second arm rotatably connected to the first arm around a second rotating axis orthogonal to the first rotating axis, a third arm rotatably connected to the second arm around a third rotating axis parallel to the second rotating axis, and a three-axis inertial sensor provided in the third arm and including a first detection axis, a second detection axis, and a third detection axis orthogonal to each other, the first detection axis and the third rotating axis being parallel to each other.
    Type: Grant
    Filed: March 4, 2014
    Date of Patent: May 17, 2016
    Assignee: Seiko Epson Corporation
    Inventors: Atsushi Asada, Shunsuke Toshimitsu
  • Patent number: 9343338
    Abstract: When a die to be stripped out of plural dies (semiconductor chips) bonded to a dicing film is to be tossed and stripped from the dicing film, the dicing film corresponding to predetermined positions out of the peripheral portion of the die is tossed to form stripping start points. The dicing film corresponding to portions other than the above predetermined positions is then tossed to strip the die from the dicing film.
    Type: Grant
    Filed: September 2, 2011
    Date of Patent: May 17, 2016
    Assignee: Fasford Technology Co., Ltd.
    Inventors: Naoki Okamoto, Keita Yamamoto
  • Patent number: 9279143
    Abstract: A liquid processing system to process liquid biological material includes: a trunk provided turnable on an axis, set within a predetermined work space; a first arm provided to the trunk and having at least three degrees of freedom or higher degrees of freedom; a second arm provided to the trunk and having at least three degrees of freedom or higher degrees of freedom; a driving mechanism configured to drive each of the trunk, the first arm, and the second arm; and physiochemical equipment situated within the work space and within the range of movement of at least one of the first and the second arm. The driving mechanism is operated by teaching playback based on the positions and shapes of the physiochemical equipment, and the biological material is processed using the physiochemical equipment.
    Type: Grant
    Filed: December 26, 2013
    Date of Patent: March 8, 2016
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Makoto Umeno, Teruyasu Arai
  • Patent number: 9252038
    Abstract: To provide a drive device rigid enough to endure a stress due to a reaction during driving of an arm unit, and to provide a conveyance device including the same. A drive device includes a frame and an actuator installed in the frame. The frame is formed by integral molding by casting. The frame includes a connecting portion connectable to a division wall of a conveyance chamber, a bottom plate portion serving as an opposed portion provided to be opposed to the connecting portion, and a plurality of coupling portions that couple the connecting portion and the bottom plate portion to each other. The actuator includes three coaxial shafts (two rotating shafts and single turning shaft), three motors, and a transmission mechanism that transmits a rotational driving force by the three motors to the three shafts. The frame is formed by the integral molding, and hence it is possible to realize a drive device having a high rigidity.
    Type: Grant
    Filed: December 22, 2010
    Date of Patent: February 2, 2016
    Assignee: Ulvac, Inc.
    Inventors: Hirotoshi Nakao, Muneyoshi Nishitsuji, Takahiro Yoshino, Takuya Kuriyama, Taiji Chiba, Daisuke Kawakubo, Kiyotaka Yamada
  • Patent number: 9102474
    Abstract: A rotation mechanism includes a mandrel, a rotation axle, a needle roller bearing and an angular bearing. The mandrel includes a shaft portion, a first annular contact portion and a second annular contact portion. The shaft portion has an outer surface, and the first annular contact portion and the second annular contact portion are located on the outer surface and respectively surround the axis of the mandrel. The rotation axle includes an annular portion, a third annular contact portion and a fourth annular contact portion. The annular portion has a shaft hole and an inner surface forming the shaft hole. The third annular contact portion and the fourth annular contact portion are located on the inner surface, and the mandrel passes through the shaft hole. The needle roller bearing is in contact with the first annular contact portion and the third annular contact portion, and is located between them.
    Type: Grant
    Filed: February 10, 2014
    Date of Patent: August 11, 2015
    Assignee: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE
    Inventors: Wei-Chu Lin, Mei-Chin Chou, Yu-Shiang Huang, Hsin-Chuan Su, Hsi-Hung Hsiao
  • Publication number: 20150098773
    Abstract: A method and apparatus for processing substrates using a multi-chamber processing system, or cluster tool, is provided. In one embodiment of the invention, a robot assembly is provided. The robot assembly includes a first motion assembly movable in a first direction, and a second motion assembly, the second motion assembly being coupled to the first motion assembly and being movable relative to the first motion assembly in a second direction that is generally orthogonal to the first direction. The robot assembly further comprises an enclosure disposed in one of the first motion assembly or the second motion assembly, the enclosure containing at least a portion of a vertical actuator assembly, a support plate coupled to the enclosure, and a first transfer robot disposed on the support plate.
    Type: Application
    Filed: December 15, 2014
    Publication date: April 9, 2015
    Applicant: APPLIED MATERIALS, INC.
    Inventors: Mike RICE, Jeffrey HUDGENS, Charles CARLSON, William Tyler WEAVER, Robert LOWRANCE, Eric ENGLHARDT, Dean C. HRUZEK, Dave SILVETTI, Michael KUCHAR, Kirk VAN KATWYK, Van HOSKINS, Vinay SHAH
  • Patent number: 9001422
    Abstract: In an automated process of handling slides, such as in an imaging system, a slide hander must be able to get a hold of, lift up, and move slides, with tissues samples thereon, to multiple locations quickly and efficiently. To perform this function, the arm of the slide handler needs to be free to move from one location to the next and to advantageously respond in the event of encountering any unexpected or misplaced objects and/or other obstacles without jamming, being damaged and/or causing damage to a slide. A system described herein provides for the use of a slide handler having a crash head assembly with a spring-loaded flexible joint that may disengage if an unexpected obstacle is encountered and spring back to its proper location once the obstacle is cleared. Additionally, because the crash head assembly can flex, it is less likely to break or chip the glass slides.
    Type: Grant
    Filed: February 28, 2013
    Date of Patent: April 7, 2015
    Assignee: Ventana Medical Systems, Inc.
    Inventors: Michael T. Taylor, Gregory C. Loney
  • Patent number: 8992160
    Abstract: A transfer robot according to an embodiment includes an arm and a body. The arm is provided, at a terminal end thereof, with a robot hand transferring a thin plate-like workpiece, and operates in horizontal directions. The body includes a lifting and lowering mechanism that lifts and lowers the arm. In the transfer robot, at least a part of the body is disposed outside a side wall of a transfer room that is connected to an opening and closing device opening and closing a storage container for the thin plate-like workpiece and to a processing room processing the thin plate-like workpiece.
    Type: Grant
    Filed: November 1, 2012
    Date of Patent: March 31, 2015
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventor: Masatoshi Furuichi
  • Patent number: 8968654
    Abstract: A fluid delivery system includes a laboratory instrument that operates using fluid retained in one or more containers. The containers are supported on a motor-driven lift that is configured to transport the containers between a lowered position suitable for handling and an elevated position suitable for the delivery of fluid to the instrument by gravity. The lift includes a bench-mountable base, a tubular column extending upward from the base, an elongated lead screw extending longitudinally through the column, a drive mechanism for rotatably driving the lead screw, a carriage slidably mounted over the tubular column and mechanically coupled to the lead screw, a platform removably coupled to the carriage for supporting the containers, and a control system for regulating operation of the drive mechanism. During operation, a slot provided in the column restricts travel of the platform along a predefined path that is linear in part and helical in part.
    Type: Grant
    Filed: January 10, 2013
    Date of Patent: March 3, 2015
    Assignee: Automation Solutions, Inc.
    Inventors: Thomas Matthew Kendall, Matthew Charles Tierney, Joseph Scott Cantara
  • Publication number: 20150050112
    Abstract: The present invention relates to an apparatus for transferring a substrate. The apparatus includes a supporting member; an elevating and rotating member; a transferring unit; a first arm whose one end is supported by the elevating and rotating member to be rotatable; a second arm whose one end is supported by the transferring unit to be rotatable and whose the other end is supported by the other end of the first arm to be rotatable; and an arm driving part, installed on the first arm, which drives the other end of the second arm to pivot on the other end of the first arm to allow the first arm and the second arm to be folded or unfolded and thus removes the state of singularity by rotating the other end of the second arm based on the other end of the first arm.
    Type: Application
    Filed: October 20, 2014
    Publication date: February 19, 2015
    Inventors: Soo Jong LEE, Eun Jae CHOI, Sung Pyo LEE, Byoung Sam CHOI, Yoon Bum KIM, Hyeon Ju KIM, Jae Wan PARK, Jeong Yong KIM, Chang Hyun JEE, Jae Ok PARK
  • Publication number: 20150037127
    Abstract: The present invention relates to an apparatus for transferring a substrate. The apparatus includes a supporting member; an elevating and rotating member; a transferring unit; a first arm whose one end is supported by the elevating and rotating member to be rotatable; a second arm whose one end is supported by the transferring unit to be rotatable and whose the other end is supported by the other end of the first arm to be rotatable; and an arm driving part, installed on the first arm, which drives the other end of the second arm to pivot on the other end of the first arm to allow the first arm and the second arm to be folded or unfolded and thus removes the state of singularity by rotating the other end of the second arm based on the other end of the first arm.
    Type: Application
    Filed: October 20, 2014
    Publication date: February 5, 2015
    Inventors: Soo Jong LEE, Eun Jae CHOI, Sung Pyo LEE, Byoung Sam CHOI, Yoon Bum KIM, Hyeon Ju KIM, Jae Wan PARK, Jeong Yong KIM, Chang Hyun JEE, Jae Ok PARK
  • Publication number: 20150013910
    Abstract: A transfer apparatus for transporting substrates in a transfer chamber having a first and second ends and two sides extending between the ends. The transfer apparatus includes a drive section, at least one base arm fixed at one end with respect to the transfer chamber and including at least one arm link rotatably coupled to the drive section and at least one transfer arm rotatably coupled to a common end of the base arm, the at least one transfer arm has two end effectors. The drive section has motors with three independent axes of rotation defining three degrees of freedom. One degree of freedom moves the at least one base arm horizontally for transporting the at least one transfer arm and two degrees of freedom drives the at least one transfer arm to extend and retract the at least one transfer arm and swap the two end effectors.
    Type: Application
    Filed: February 11, 2013
    Publication date: January 15, 2015
    Inventors: Alexander Krupyshev, Ulysses Gilchrist, Robert T. Caveney, Daniel Babbs
  • Patent number: 8920107
    Abstract: A substrate support apparatus which can support a substrate having a center hole, comprises a support portion which can support the substrate. The support portion includes a support groove with a cross-sectional shape in which a groove width gradually increases in a counter-gravitational direction, and a width of the support groove between two end portions is larger than a width of the support groove at the center thereof.
    Type: Grant
    Filed: May 11, 2011
    Date of Patent: December 30, 2014
    Assignee: Canon Anelva Corporation
    Inventors: Tadashi Ikeda, Gen Goshokubo, Hiroshi Sone
  • Publication number: 20140348623
    Abstract: The present invention disclosed an apparatus and for lifting and sliding object over barrier in horizontal direction, comprising two lifting beams that placed on supporting structures and located above object to be lifted and a barrier, and a lifter installed on the lifting beam. A hydraulic push instrument kit is installed on a lifting beam to move the shoulder beam and the lifter. The lifter connects with the object through the steel strand and a triangle transfer connector having three fixed-holds. When the steel strand encounters a barrier in horizontal direction, setting another lifting apparatus on the part of lifting beams located on the other side of the barrier, connecting another lifting apparatus with the third fixed-hold of transfer connectors 4 by steel strands, and lifting the object until whole load of the object has been transferred onto the second lifter and the object can move to the desired position.
    Type: Application
    Filed: September 20, 2013
    Publication date: November 27, 2014
    Applicants: Shanghai YeSheng Mechanical & Electrical Control Technology Co., LTD, Guangzhou Construction Engineering Co., Ltd.
    Inventors: Junyue GAO, Long WANG, Wei WEI, Jianming WEN, Sui YIN, Yanfeng JIA, Yuantao ZHAO
  • Patent number: 8874258
    Abstract: A method of transporting a substrate with a substrate support, the method includes defining a frictional breakaway force between the substrate and the substrate support in a horizontal plane, moving the substrate in the horizontal plane along a horizontal trajectory, moving the substrate in a vertical direction along a vertical trajectory simultaneously while moving the substrate in the horizontal plane, and wherein the horizontal trajectory is determined based on the acceleration profile of the vertical trajectory and wherein the horizontal trajectory prevents the moving of the substrate from overcoming the coefficient of friction in the horizontal plane.
    Type: Grant
    Filed: September 13, 2012
    Date of Patent: October 28, 2014
    Assignee: Persimmon Technologies Corporation
    Inventor: Martin Hosek
  • Publication number: 20140314538
    Abstract: A support arm for a medical device includes a column and a boom rotatably coupled to the column for rotation relative to a first axis. An arm is coupled to the boom for rotation relative to a second axis. A link mount is coupled to the arm and rotatable relative to the arm about a third axis. A device mount is supported by a linkage having link members arranged such that rotation of said first link member relative to the link mount about a fourth axis rotates the medical device about a fifth axis. The device mount is rotatable relative to the linkage about a sixth axis. The third, fifth and sixth axes extend through the center of mass of a medical instrument supported by the device mount.
    Type: Application
    Filed: April 18, 2014
    Publication date: October 23, 2014
    Applicant: TransEnterix Surgical, Inc.
    Inventors: Adam Carter, Keith Phillip Laby
  • Patent number: 8863685
    Abstract: A camera is used to take an image of an end surface of a honeycomb structure gripped by a hand. Based on the image, an initial rotation angle of the honeycomb structure around a vertical axis at a reference position where the image has been taken is recognized. An arm turning section is driven to convey the honeycomb structure gripped by the hand from the reference position to above a plugging mask. A rotation angle required to adjust the rotation angle of the honeycomb structure on the plugging mask to a desired final rotation angle is acquired based on the initial rotation angle recognized at the reference position and a rotation angle of the honeycomb structure around the vertical axis associated with the driving of the arm turning section from the reference position to above the plugging mask. The honeycomb structure is rotated based on the required rotation angle.
    Type: Grant
    Filed: November 8, 2011
    Date of Patent: October 21, 2014
    Assignee: Sumitomo Chemical Company, Limited
    Inventors: Masaharu Mori, Ying Gong
  • Patent number: 8833198
    Abstract: A robot has a robot arm, a support structure, and a movable platform. The platform includes a cantilevered member coupled to a guide of the support structure such that motion of the platform is directed along a first direction. The robot further includes first and second timing belts having portions that extend along the first direction and that are disposed on opposite sides of the cantilevered member, and first and second shafts movable with the movable platform. The shafts are coupled to the respective timing belts, to the robot arm such that rotation of the first shaft imparts angular motion to the robot arm and rotation of the second shaft imparts radial motion. The robot also includes a third timing belt to which the platform is coupled and by which it is moved. Motors are provided that impart movement to the timing belts.
    Type: Grant
    Filed: June 27, 2012
    Date of Patent: September 16, 2014
    Assignee: Genmark Automation, Inc.
    Inventor: Alexander Todorov
  • Publication number: 20140240824
    Abstract: In an automated process of handling slides, such as in an imaging system, a slide hander must be able to get a hold of, lift up, and move slides, with tissues samples thereon, to multiple locations quickly and efficiently. To perform this function, the arm of the slide handler needs to be free to move from one location to the next and to advantageously respond in the event of encountering any unexpected or misplaced objects and/or other obstacles without jamming, being damaged and/or causing damage to a slide. A system described herein provides for the use of a slide handler having a crash head assembly with a spring-loaded flexible joint that may disengage if an unexpected obstacle is encountered and spring back to its proper location once the obstacle is cleared. Additionally, because the crash head assembly can flex, it is less likely to break or chip the glass slides.
    Type: Application
    Filed: February 28, 2013
    Publication date: August 28, 2014
    Applicant: Ventana Medical Systems, Inc.
    Inventors: Michael T. TAYLOR, Gregory C. LONEY
  • Publication number: 20140227072
    Abstract: A wafer transfer blade including a body including metal oxide and configured to support a wafer, and an adsorbing part on the body, the adsorbing part having at least one therein and configured to apply vacuum pressure to attach the wafer on the body may be provided. The body may include metal oxide to prevent static electricity.
    Type: Application
    Filed: February 12, 2014
    Publication date: August 14, 2014
    Applicant: Samsung Electronics Co., Ltd.
    Inventors: Dong-Yoon LEE, Jun-Young MUN, Dong-Il PARK, Suk-Yong JUNG, Bo-Young HWANG
  • Patent number: 8755935
    Abstract: A substrate holder positioning method, capable of positioning a substrate holder without using any positioning jig, includes: measuring a first position of a substrate held on a substrate holder included in a substrate carrying mechanism; carrying the substrate held on the substrate holder to a substrate rotating unit for holding and rotating the substrate; turning the substrate held by the substrate rotating unit through a predetermined angle by the substrate rotating unit; transferring the substrate turned by the substrate rotating unit from the substrate rotating unit to the substrate holder; measuring a second position of the substrate transferred from the substrate rotating unit to the substrate holder; determining the position of the center of rotation of the substrate rotating unit on the basis of the first and the second position; and positioning the substrate holder on the basis of the position of the center of rotation.
    Type: Grant
    Filed: February 27, 2012
    Date of Patent: June 17, 2014
    Assignee: Tokyo Electron Limited
    Inventors: Yuichi Douki, Tokutarou Hayashi, Naruaki Iida, Suguru Enokida
  • Patent number: 8701519
    Abstract: A substrate handling robot having a robot body and a robot arm with an end effector is configured to exhibit angular (?), radial (R) and Z motion. A pair of coaxial shafts link the robot arm to respective motors dedicated to angular (?) and radial (R) motions. The motors are stationarily mounted with respect to the robot body. The shafts are rotatably supported by a floating platform which is motivated in the Z direction by a third motor also stationarily mounted with respect to the robot body. The third motor is coupled to the platform by a Z motion linkage. The first and second motors are coupled to the coaxial shafts by angular and radial motion linkages each of which includes primary and secondary timing belts whose relative motions are synchronized with the Z motion linkage to achieve controllable independent angular (?), radial (R) and Z motions in a simple, light-weight package.
    Type: Grant
    Filed: June 28, 2006
    Date of Patent: April 22, 2014
    Assignee: Genmark Automation, Inc.
    Inventor: Alexander Todorov
  • Patent number: 8690516
    Abstract: Provided is a method of adjusting a velocity of a transfer arm in a transfer member. The method includes, accelerating the transfer arm from a start point to a first point where a movement velocity reaches a preset reference velocity, dividing a division from the first point to a second point into movement divisions to move the transfer arm in any one of a deceleration motion, an acceleration motion, and a uniform motion according to the respective movement divisions, and decelerating the transfer arm from the second point to a target point. The motion of the transfer arm in the current movement division is different from that in the movement division just before the current movement division. Thus, a different impulse from that in the precedent movement division is applied to a substrate loaded on the transfer arm. Accordingly, the impulse response superposition cancels residual vibration of the substrate, so as to improve transfer efficiency of the transfer member.
    Type: Grant
    Filed: April 6, 2009
    Date of Patent: April 8, 2014
    Assignee: Semes Co., Ltd.
    Inventors: Kwang-Jin Hong, Sang-Eun Jun
  • Patent number: 8672604
    Abstract: An industrial robot includes a hand on which a workpiece is placed, an arm that takes out the hand from a predetermined position of the workpiece and supplies the hand, an up-down moving mechanism connected to the arm by a support member, a pedestal provided at a lower portion of the up-down moving mechanism, and a pendulum stopper provided on a base on which the pedestal turns.
    Type: Grant
    Filed: March 11, 2011
    Date of Patent: March 18, 2014
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Taizo Kubota, Kentaro Tanaka, Osamu Harada
  • Patent number: 8596950
    Abstract: A transfer robot includes a hand section, a horizontal arm mechanism, and a lift mechanism. An object is to be placed on the hand section. The horizontal arm mechanism is connected to the hand section and includes at least two rotary joints. The horizontal arm mechanism is configured to extend and contract so as to move the hand section along one direction. The lift mechanism is configured to move the horizontal arm mechanism up and down and includes a plurality of link mechanisms disposed on a base member. The horizontal arm mechanism is disposed between parts of the lift mechanism when the horizontal arm mechanism is moved to a lowest position.
    Type: Grant
    Filed: January 27, 2011
    Date of Patent: December 3, 2013
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Satoshi Sueyoshi, Kentaro Tanaka, Tomohiro Matsuo
  • Publication number: 20130266405
    Abstract: A work piece transfer mechanism for use in a chamber has at least one port through which a work piece may be passed along a linear work piece transfer path between a retracted location inside the chamber and an extended location outside the chamber. The chamber has a predetermined internal dimension of given axial extent in the direction of the transfer path, and the transfer mechanism includes a work piece support movable with a linear stroke. The work piece support is driven along the linear stroke by a drive lever pivotally attached to the work piece support by a pivot, and the drive lever is drivable such that the pivot is driven along a linear path to move the work piece support along the linear work piece transfer path. The linear work piece transfer path includes a portion beyond the port of axial extent greater than predetermined internal dimension.
    Type: Application
    Filed: December 19, 2011
    Publication date: October 10, 2013
    Applicant: UHV DESIGN LIMITED
    Inventor: Peter Coxon
  • Patent number: 8550765
    Abstract: An apparatus for transferring and accepting glass substrate plates includes a double fork gripper having two superimposed, individual fork grippers that are movable relative to one another perpendicular to their extension planes. The fork grippers may be inserted simultaneously therewith into a receiving station having at least two depositing planes so that relative movement of the individual fork grippers perpendicular to their extension planes transfers a glass substrate plate to the receiving station and receives another plate from the receiving station.
    Type: Grant
    Filed: June 5, 2007
    Date of Patent: October 8, 2013
    Assignee: KUKA Roboter GmbH
    Inventors: Norbert Cottone, Martin Peghini